OpenRaiser/Intern-Atlas huggingface dataset:
Adaptive Correlation-Weighted Intrinsic Rewards for Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

We propose ACWI (Adaptive Correlation Weighted Intrinsic), an adaptive intrinsic reward scaling framework designed to dynamically balance intrinsic and extrinsic rewards for improved exploration in sparse reward reinforcement learning. Unlike conventional approaches that rely on manually tuned scalar coefficients, which often result in unstable or suboptimal performance across tasks, ACWI learns a state dependent scaling coefficient online. Specifically, ACWI introduces a lightweight Beta Network that predicts the intrinsic reward weight directly from the agent state through an encoder based architecture. The scaling mechanism is optimized using a correlation based objective that encourages alignment between the weighted intrinsic rewards and discounted future extrinsic returns. This formulation enables task adaptive exploration incentives while preserving computational efficiency and training stability. We evaluate ACWI on a suite of sparse reward environments in MiniGrid. Experimental results demonstrate that ACWI consistently improves sample efficiency and learning stability compared to fixed intrinsic reward baselines, achieving superior performance with minimal computational overhead.
FoV-Net: Rotation-Invariant CAD B-rep Learning via Field-of-View Ray Casting
Venue: arXiv cs.CV 2026
Year: 2026

Learning directly from boundary representations (B-reps) has significantly advanced 3D CAD analysis. However, state-of-the-art B-rep learning methods rely on absolute coordinates and normals to encode global context, making them highly sensitive to rotations. Our experiments reveal that models achieving over 95% accuracy on aligned benchmarks can collapse to as low as 10% under arbitrary $\mathbf{SO}(3)$ rotations. To address this, we introduce FoV-Net, the first B-rep learning framework that captures both local surface geometry and global structural context in a rotation-invariant manner. Each face is represented by a Local Reference Frame (LRF) UV-grid that encodes its local surface geometry, and by Field-of-View (FoV) grids that capture the surrounding 3D context by casting rays and recording intersections with neighboring faces. Lightweight CNNs extract per-face features, which are propagated over the B-rep graph using a graph attention network. FoV-Net achieves state-of-the-art performance on B-rep classification and segmentation benchmarks, demonstrating robustness to arbitrary rotations while also requiring less training data to achieve strong results.
The Subjectivity of Monoculture
Venue: arXiv cs.CY 2026
Year: 2026

Machine learning models -- including large language models (LLMs) -- are often said to exhibit monoculture, where outputs agree strikingly often. But what does it actually mean for models to agree too much? We argue that this question is inherently subjective, relying on two key decisions. First, the analyst must specify a baseline null model for what "independence" should look like. This choice is inherently subjective, and as we show, different null models result in dramatically different inferences about excess agreement. Second, we show that inferences depend on the population of models and items under consideration. Models that seem highly correlated in one context may appear independent when evaluated on a different set of questions, or against a different set of peers. Experiments on two large-scale benchmarks validate our theoretical findings. For example, we find drastically different inferences when using a null model with item difficulty compared to previous works that do not. Together, our results reframe monoculture evaluation not as an absolute property of model behavior, but as a context-dependent inference problem.
An $ε$-Optimal Sequential Approach for Solving zs-POSGs
Venue: arXiv cs.GT 2026
Year: 2026

While recent reductions of zero-sum partially observable stochastic games (zs-POSGs) to transition-independent stochastic games (TI-SGs) theoretically admit dynamic programming, practical solutions remain stifled by the inherent non-linearity and exponential complexity of the simultaneous minimax backup. In this work, we surmount this computational barrier by rigorously recasting the simultaneous interaction as a sequential decision process via the principle of separation. We introduce distinct sufficient statistics for valuation and execution, the sequential occupancy state and the private occupancy family, which reveal a latent geometry in the optimal value function. This structural insight allows us to linearise the backup operator, reducing the update complexity from exponential to polynomial while enabling the direct extraction of safe policies without heuristic bookkeeping. Experimental results demonstrate that algorithms leveraging this sequential framework significantly outperform state-of-the-art methods, effectively rendering previously intractable domains solvable.
DiffusionHarmonizer: Bridging Neural Reconstruction and Photorealistic Simulation with Online Diffusion Enhancer
Venue: arXiv cs.CV 2026
Year: 2026

Simulation is essential to the development and evaluation of autonomous robots such as self-driving vehicles. Neural reconstruction is emerging as a promising solution as it enables simulating a wide variety of scenarios from real-world data alone in an automated and scalable way. However, while methods such as NeRF and 3D Gaussian Splatting can produce visually compelling results, they often exhibit artifacts particularly when rendering novel views, and fail to realistically integrate inserted dynamic objects, especially when they were captured from different scenes. To overcome these limitations, we introduce DiffusionHarmonizer, an online generative enhancement framework that transforms renderings from such imperfect scenes into temporally consistent outputs while improving their realism. At its core is a single-step temporally-conditioned enhancer that is converted from a pretrained multi-step image diffusion model, capable of running in online simulators on a single GPU. The key to training it effectively is a custom data curation pipeline that constructs synthetic-real pairs emphasizing appearance harmonization, artifact correction, and lighting realism. The result is a scalable system that significantly elevates simulation fidelity in both research and production environments.
Geometry-based pneumatic actuators for soft robotics
Venue: arXiv cs.RO 2026
Year: 2026

Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii, multi-states capabilities and structural stability. We present geometry-based pneumatic actuators (GPAs), a design and implementation approach that introduces constraint layers with configurable CNC heat-sealed chambers. The approach achieves predictable deformation, near-zero bending radii, multi-states actuation, and enables customizable and repeatable complex actuated geometries. Mathematical modeling reveals predictable linear angle transformations and validates nonlinear torque-angle relationships across diverse configurations. We demonstrate versatility of the GPAs approach through three applications: a 49 g wrist exoskeleton reducing muscle activity by up to 51%, a 30.8 g haptic interface delivering 8 N force feedback with fast response, and a 208 g bipedal robot achieving multi-gait locomotion. GPAs establish a configurable platform for next-generation wearable robotics, haptic systems, and soft locomotion devices.
Toward Guarantees for Clinical Reasoning in Vision Language Models via Formal Verification
Venue: arXiv cs.CV 2026
Year: 2026

Vision-language models (VLMs) show promise in drafting radiology reports, yet they frequently suffer from logical inconsistencies, generating diagnostic impressions unsupported by their own perceptual findings or missing logically entailed conclusions. Standard lexical metrics heavily penalize clinical paraphrasing and fail to capture these deductive failures in reference-free settings. Toward guarantees for clinical reasoning, we introduce a neurosymbolic verification framework that deterministically audits the internal consistency of VLM-generated reports. Our pipeline autoformalizes free-text radiographic findings into structured propositional evidence, utilizing an SMT solver (Z3) and a clinical knowledge base to verify whether each diagnostic claim is mathematically entailed, hallucinated, or omitted. Evaluating seven VLMs across five chest X-ray benchmarks, our verifier exposes distinct reasoning failure modes, such as conservative observation and stochastic hallucination, that remain invisible to traditional metrics. On labeled datasets, enforcing solver-backed entailment acts as a rigorous post-hoc guarantee, systematically eliminating unsupported hallucinations to significantly increase diagnostic soundness and precision in generative clinical assistants.
"Make It Sound Like a Lawyer Wrote It": Scenarios of Potential Impacts of Generative AI for Legal Conflict Resolution
Venue: arXiv cs.CY 2026
Year: 2026

Generative AI (GenAI) tools are transforming critical societal domains, including the legal sector. While these tools create opportunities such as increased efficiency and potential improvements in access to justice, they also present new challenges, such as the risk of inaccurate legal advice and questions about the legitimacy of legal decisions. However, the full impact remains to be seen and ultimately depends on the way GenAI tools are implemented and used by both, legal professionals and citizens. This makes anticipating and managing the positive and negative impacts of GenAI use in the legal domain challenging but also important to guide the digital transformation of the legal sector into a societally desirable direction. In this paper, we set out to explore the spectrum of possible impacts of GenAI in the legal domain, examining how this technology is anticipated being used and the potential implications this might have for the legal sector and society. Using a scenario writing method, we surveyed participants in the EU and US including both citizens and legal professionals about the potential impact of generative AI on legal conflict resolution. Respondents were tasked with writing a narrative drawing on their experience or expertise about a future in which AI is used throughout the legal process. We qualitatively analysed the prevalence of risk and benefit themes, as well as the types of anticipated legal tasks. We then compared these findings based on expertise status (legal experts versus citizens) and regional regulatory background (the EU with the EU AI Act versus the US with an industry self-regulatory approach). Finally, we describe the emerging trade-offs that will affect decision-makers in the legal sector.
What You Read is What You Classify: Highlighting Attributions to Text and Text-Like Inputs
Venue: arXiv cs.LG 2026
Year: 2026

At present, there are no easily understood explainable artificial intelligence (AI) methods for discrete token inputs, like text. Most explainable AI techniques do not extend well to token sequences, where both local and global features matter, because state-of-the-art models, like transformers, tend to focus on global connections. Therefore, existing explainable AI algorithms fail by (i) identifying disparate tokens of importance, or (ii) assigning a large number of tokens a low value of importance. This method for explainable AI for tokens-based classifiers generalizes a mask-based explainable AI algorithm for images. It starts with an Explainer neural network that is trained to create masks to hide information not relevant for classification. Then, the Hadamard product of the mask and the continuous values of the classifier's embedding layer is taken and passed through the classifier, changing the magnitude of the embedding vector but keeping the orientation unchanged. The Explainer is trained for a taxonomic classifier for nucleotide sequences and it is shown that the masked segments are less relevant to classification than the unmasked ones. This method focused on the importance the token as a whole (i.e., a segment of the input sequence), producing a human-readable explanation.
RAViT: Resolution-Adaptive Vision Transformer
Venue: arXiv cs.CV 2026
Year: 2026

Vision transformers have recently made a breakthrough in computer vision showing excellent performance in terms of precision for numerous applications. However, their computational cost is very high compared to alternative approaches such as Convolutional Neural Networks. To address this problem, we propose a novel framework for image classification called RAViT based on a multi-branch network that operates on several copies of the same image with different resolutions to reduce the computational cost while preserving the overall accuracy. Furthermore, our framework includes an early exit mechanism that makes our model adaptive and allows to choose the appropriate trade-off between accuracy and computational cost at run-time. For example in a two-branch architecture, the original image is first resized to reduce its resolution, then a prediction is performed on it using a first transformer and the resulting prediction is reused together with the original-size image to perform a final prediction on a second transformer with less computation than a classical Vision transformer architecture. The early-exit process allows the model to make a final prediction at intermediate branches, saving even more computation. We evaluated our approach on CIFAR-10, Tiny ImageNet, and ImageNet. We obtained an equivalent accuracy to the classical Vision transformer model with only around 70% of FLOPs.
Current pulse generator: A circuit for programming RRAM in current mode
Venue: arXiv cs.ET 2026
Year: 2026

Switching uniformity, as a major challenge, hinders the practical implementation of \ac{RRAM} in memory application. Operating \ac{RRAM} in current mode, is proposed as an efficient method to improve programming schemes accuracy within the finite readout window. In this article, we demonstrate a current generator circuit to perform current programming on \ac{RRAM}. Current mirror topology is used in our circuit to convert an external pulse voltage into a pulse current fed to \ac{RRAM} directly with an amplitude equivalent with the DC reference current. The targeting ranges of \ac{RRAM}'s programming current are up to 400\,\textmu A and, in that case, our proposed circuit achieved minimum current mismatch of 1\%.
Fair Division Under Inaccurate Preferences
Venue: arXiv cs.GT 2026
Year: 2026

The fair allocation of scarce resources is a central problem in mathematics, computer science, operations research, and economics. While much of the fair-division literature assumes that individuals have underlying cardinal preferences, eliciting exact numerical values is often cognitively burdensome and prone to inaccuracies. A growing body of work in fair division addresses this challenge by assuming access only to ordinal preferences. However, the restricted expressiveness of ordinal preferences makes it challenging to quantify and optimize cardinal fairness objectives such as envy. In this paper, we explore the broad landscape of fair division of indivisible items given inaccurate cardinal preferences, with a focus on minimizing envy. We consider various settings based on whether the true preferences of the agents are stochastic or worst-case, and whether the inaccuracies, modeled as additive noise, are stochastic or worst-case. When the true preferences are stochastic, we show that envy-free allocations can be computed with high probability; this is achieved both in the setting with stochastic and worst-case noise. This generalizes a notable result in stochastic fair division, which establishes a similar guarantee, albeit in the absence of any noise. When the true preferences are worst-case, and the noise is bounded, we analyze the maximum envy achieved by the Round-Robin algorithm. This bound is shown to be tight for deterministic algorithms, and applications of this bound are provided. Lastly, we consider a setting with worst-case preferences and noise, where the true preferences for each item are revealed upon its allocation. Here, we give an efficient online algorithm that guarantees logarithmic maximum envy with high probability. This result generalizes a known result from algorithmic discrepancy to a setting with noisy input data.
ArgLLM-App: An Interactive System for Argumentative Reasoning with Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Argumentative LLMs (ArgLLMs) are an existing approach leveraging Large Language Models (LLMs) and computational argumentation for decision-making, with the aim of making the resulting decisions faithfully explainable to and contestable by humans. Here we propose a web-based system implementing ArgLLM-empowered agents for binary tasks. ArgLLM-App supports visualisation of the produced explanations and interaction with human users, allowing them to identify and contest any mistakes in the system's reasoning. It is highly modular and enables drawing information from trusted external sources. ArgLLM-App is publicly available at https://argllm.app, with a video demonstration at https://youtu.be/vzwlGOr0sPM.
Task-Centric Acceleration of Small-Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Small language models (SLMs) have emerged as efficient alternatives to large language models for task-specific applications. However, they are often employed in high-volume, low-latency settings, where efficiency is crucial. We propose TASC, Task-Adaptive Sequence Compression, a framework for SLM acceleration comprising two use-cases: When performing SLM fine-tuning, we propose TASC-ft, which iteratively enriches the tokenizer vocabulary with high-frequency output n-grams and then fine-tunes the model to utilize the expanded vocabulary. Next, we propose an inference-time method, termed TASC-spec. TASC-spec is a lightweight, training-free speculative decoding method that constructs an n-gram draft model from the task's output corpus, mixing task and context n-gram information.TASC-spec avoids any additional training, while bypassing draft-target vocabulary alignment constraints. We demonstrate the effectiveness of both methods across multiple low output-variability generation tasks. Our methods show consistent improvements in inference efficiency while maintaining task performance.
A Mixed Diet Makes DINO An Omnivorous Vision Encoder
Venue: arXiv cs.CV 2026
Year: 2026

Pre-trained vision encoders like DINOv2 have demonstrated exceptional performance on unimodal tasks. However, we observe that their feature representations are poorly aligned across different modalities. For instance, the feature embedding for an RGB image and its corresponding depth map of the same scene exhibit a cosine similarity that is nearly identical to that of two random, unrelated images. To address this, we propose the Omnivorous Vision Encoder, a novel framework that learns a modality-agnostic feature space. We train the encoder with a dual objective: first, to maximize the feature alignment between different modalities of the same scene; and second, a distillation objective that anchors the learned representations to the output of a fully frozen teacher such as DINOv2. The resulting student encoder becomes "omnivorous" by producing a consistent, powerful embedding for a given scene, regardless of the input modality (RGB, Depth, Segmentation, etc.). This approach enables robust cross-modal understanding while retaining the discriminative semantics of the original foundation model.
Uncertainty Quantification for Multimodal Large Language Models with Incoherence-adjusted Semantic Volume
Venue: arXiv cs.AI 2026
Year: 2026

Despite their capabilities, Multimodal Large Language Models (MLLMs) may produce plausible but erroneous outputs, hindering reliable deployment. Accurate uncertainty metrics could enable escalation of unreliable queries to human experts or larger models for improved performance. However, existing uncertainty metrics have practical constraints, such as being designed only for specific modalities, reliant on external tools, or computationally expensive. We introduce UMPIRE, a training-free uncertainty quantification framework for MLLMs that works efficiently across various input and output modalities without external tools, relying only on the models' own internal modality features. UMPIRE computes the incoherence-adjusted semantic volume of sampled MLLM responses for a given task instance, effectively capturing both the global semantic diversity of samples and the local incoherence of responses based on internal model confidence. We propose uncertainty desiderata for MLLMs and provide theoretical analysis motivating UMPIRE's design. Extensive experiments show that UMPIRE consistently outperforms baseline metrics in error detection and uncertainty calibration across image, audio, and video-text benchmarks, including adversarial and out-of-distribution settings. We also demonstrate UMPIRE's generalization to non-text output tasks, including image and audio generation.
The Stability of Online Algorithms in Performative Prediction
Venue: arXiv cs.LG 2026
Year: 2026

The use of algorithmic predictions in decision-making leads to a feedback loop where the models we deploy actively influence the data distributions we see, and later use to retrain on. This dynamic was formalized by Perdomo et al. 2020 in their work on performative prediction. Our main result is an unconditional reduction showing that any no-regret algorithm deployed in performative settings converges to a (mixed) performatively stable equilibrium: a solution in which models actively shape data distributions in ways that their own predictions look optimal in hindsight. Prior to our work, all positive results in this area made strong restrictions on how models influenced distributions. By using a martingale argument and allowing randomization, we avoid any such assumption and sidestep recent hardness results for finding stable models. Lastly, on a more conceptual note, our connection sheds light on why common algorithms, like gradient descent, are naturally stabilizing and prevent runaway feedback loops. We hope our work enables future technical transfer of ideas between online optimization and performativity.
Finite Block Length Rate-Distortion Theory for the Bernoulli Source with Hamming Distortion: A Tutorial
Venue: arXiv cs.IT 2026
Year: 2026

Lossy data compression lies at the heart of modern communication and storage systems. Shannon's rate-distortion theory provides the fundamental limit on how much a source can be compressed at a given fidelity, but it assumes infinitely long block lengths that are never realized in practice. We present a self-contained tutorial on rate-distortion theory for the simplest non-trivial source: a Bernoulli$(p)$ sequence with Hamming distortion. We derive the classical rate-distortion function $RD = Hp - HD$ from first principles, illustrate its computation via the Blahut-Arimoto algorithm, and then develop the finite block length refinements that characterize how the minimum achievable rate approaches the Shannon limit as the block length $n$ grows. The central quantity in this refinement is the \emph{rate-distortion dispersion} $V(D)$, which governs the $O(1/\sqrt{n})$ penalty for operating at finite block lengths. We accompany all theoretical developments with numerical examples and figures generated by accompanying Python scripts.